From 4ab889c19bcbce5cdfbd834bdd3f7c476d6fdf1d Mon Sep 17 00:00:00 2001 From: keith khadar Date: Tue, 11 Feb 2025 19:18:25 +0000 Subject: [PATCH] switched thrusters to bidirectional on ros gz bridge --- .../subjugator_bringup/config/subjugator.rviz | 150 ++++++++++++++++-- .../config/subjugator_bridge.yaml | 16 +- 2 files changed, 146 insertions(+), 20 deletions(-) diff --git a/src/subjugator/simulation/subjugator_bringup/config/subjugator.rviz b/src/subjugator/simulation/subjugator_bringup/config/subjugator.rviz index 0168846..d0faca4 100644 --- a/src/subjugator/simulation/subjugator_bringup/config/subjugator.rviz +++ b/src/subjugator/simulation/subjugator_bringup/config/subjugator.rviz @@ -5,8 +5,9 @@ Panels: Property Tree Widget: Expanded: - /Global Options1 + - /RobotModel1 - /RobotModel1/Description Topic1 - - /TF1 + - /Image1 - /TF1/Frames1 Splitter Ratio: 0.5 Tree Height: 957 @@ -54,20 +55,105 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /robot_description - Enabled: false + Enabled: true Links: All Links Enabled: true + BLH_dir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + BLH_link: + Alpha: 1 + Show Axes: false + Show Trail: false + BLV_dir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + BLV_link: + Alpha: 1 + Show Axes: false + Show Trail: false + BRH_dir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + BRH_link: + Alpha: 1 + Show Axes: false + Show Trail: false + BRV_dir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + BRV_link: + Alpha: 1 + Show Axes: false + Show Trail: false Expand Joint Details: false Expand Link Details: false Expand Tree: false + FLH_dir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + FLH_link: + Alpha: 1 + Show Axes: false + Show Trail: false + FLV_dir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + FLV_link: + Alpha: 1 + Show Axes: false + Show Trail: false + FRH_dir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + FRH_link: + Alpha: 1 + Show Axes: false + Show Trail: false + FRV_dir_link: + Alpha: 1 + Show Axes: false + Show Trail: false + FRV_link: + Alpha: 1 + Show Axes: false + Show Trail: false Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + down_cam_link: + Alpha: 1 + Show Axes: false + Show Trail: false + dvl_sensor_link: + Alpha: 1 + Show Axes: false + Show Trail: false + front_cam_link: + Alpha: 1 + Show Axes: false + Show Trail: false + imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false Mass Properties: Inertia: false Mass: false Name: RobotModel TF Prefix: "" Update Interval: 0 - Value: false + Value: true Visual Enabled: true - Class: rviz_default_plugins/Image Enabled: true @@ -81,7 +167,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /camera/front/left/image_raw/simulated_image + Value: /front_cam/image_raw Value: true - Class: rviz_default_plugins/TF Enabled: true @@ -90,10 +176,30 @@ Visualization Manager: Frame Timeout: 15 Frames: All Enabled: false + BLH_link: + Value: true + BLV_link: + Value: true + BRH_link: + Value: true + BRV_link: + Value: true + FLH_link: + Value: true + FLV_link: + Value: true + FRH_link: + Value: true + FRV_link: + Value: true base_link: Value: true + down_cam_link: + Value: true dvl_sensor_link: Value: true + front_cam_link: + Value: true imu_link: Value: true Marker Scale: 1 @@ -103,8 +209,28 @@ Visualization Manager: Show Names: false Tree: base_link: + BLH_link: + {} + BLV_link: + {} + BRH_link: + {} + BRV_link: + {} + FLH_link: + {} + FLV_link: + {} + FRH_link: + {} + FRV_link: + {} + down_cam_link: + {} dvl_sensor_link: {} + front_cam_link: + {} imu_link: {} Update Interval: 0 @@ -160,18 +286,18 @@ Visualization Manager: Swap Stereo Eyes: false Value: false Focal Point: - X: 0.17607025802135468 - Y: 0.04805447533726692 - Z: 0.062287211418151855 + X: 0.30158719420433044 + Y: -0.0858655571937561 + Z: 0.09246137738227844 Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.07520227134227753 + Pitch: 0.07520227879285812 Target Frame: Value: Orbit (rviz) - Yaw: 3.882225513458252 + Yaw: 3.812224864959717 Saved: ~ Window Geometry: Displays: @@ -181,7 +307,7 @@ Window Geometry: Hide Right Dock: false Image: collapsed: false - QMainWindow State: 000000ff00000000fd000000040000000000000222000007b1fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000043e000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000319000000cb0000000000000000fb0000000a0049006d006100670065010000047f0000036d0000001600ffffff000000010000010f000002f8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002f8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000ccc000007b100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd0000000400000000000002b1000007b1fc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b0000043e000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610000000319000000cb0000000000000000fb0000000a0049006d006100670065010000047f0000036d0000001600ffffff000000010000010f000002f8fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b000002f8000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d0065010000000000000450000000000000000000000c3d000007b100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Tool Properties: @@ -189,5 +315,5 @@ Window Geometry: Views: collapsed: false Width: 3828 - X: 0 - Y: 0 + X: -32 + Y: -32 diff --git a/src/subjugator/simulation/subjugator_bringup/config/subjugator_bridge.yaml b/src/subjugator/simulation/subjugator_bringup/config/subjugator_bridge.yaml index 8527672..003ca76 100644 --- a/src/subjugator/simulation/subjugator_bringup/config/subjugator_bridge.yaml +++ b/src/subjugator/simulation/subjugator_bringup/config/subjugator_bridge.yaml @@ -18,43 +18,43 @@ gz_topic_name: "/model/FLH/joint/FLH_dir_joint/cmd_thrust" ros_type_name: "std_msgs/msg/Float64" gz_type_name: "gz.msgs.Double" - direction: GZ_TO_ROS + direction: BIDIRECTIONAL - ros_topic_name: "/thruster/FRH" gz_topic_name: "/model/FRH/joint/FRH_dir_joint/cmd_thrust" ros_type_name: "std_msgs/msg/Float64" gz_type_name: "gz.msgs.Double" - direction: GZ_TO_ROS + direction: BIDIRECTIONAL - ros_topic_name: "/thruster/BLH" gz_topic_name: "/model/BLH/joint/BLH_dir_joint/cmd_thrust" ros_type_name: "std_msgs/msg/Float64" gz_type_name: "gz.msgs.Double" - direction: GZ_TO_ROS + direction: BIDIRECTIONAL - ros_topic_name: "/thruster/BRH" gz_topic_name: "/model/BRH/joint/BRH_dir_joint/cmd_thrust" ros_type_name: "std_msgs/msg/Float64" gz_type_name: "gz.msgs.Double" - direction: GZ_TO_ROS + direction: BIDIRECTIONAL - ros_topic_name: "/thruster/FLV" gz_topic_name: "/model/FLV/joint/FLV_dir_joint/cmd_thrust" ros_type_name: "std_msgs/msg/Float64" gz_type_name: "gz.msgs.Double" - direction: GZ_TO_ROS + direction: BIDIRECTIONAL - ros_topic_name: "/thruster/FRV" gz_topic_name: "/model/FRV/joint/FRV_dir_joint/cmd_thrust" ros_type_name: "std_msgs/msg/Float64" gz_type_name: "gz.msgs.Double" - direction: GZ_TO_ROS + direction: BIDIRECTIONAL - ros_topic_name: "/thruster/BLV" gz_topic_name: "/model/BLV/joint/BLV_dir_joint/cmd_thrust" ros_type_name: "std_msgs/msg/Float64" gz_type_name: "gz.msgs.Double" - direction: GZ_TO_ROS + direction: BIDIRECTIONAL - ros_topic_name: "/thruster/BRV" gz_topic_name: "/model/BRV/joint/BRV_dir_joint/cmd_thrust" ros_type_name: "std_msgs/msg/Float64" gz_type_name: "gz.msgs.Double" - direction: GZ_TO_ROS + direction: BIDIRECTIONAL # Camera configuration. - ros_topic_name: "/front_cam/image_raw"